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Ignition -> Gazebo (#1596)
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Signed-off-by: Jenn Nguyen <[email protected]>
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# Ignition Gazebo : A Robotic Simulator
# Gazebo Sim : A Robotic Simulator

**Maintainer:** louise AT openrobotics DOT org

[![GitHub open issues](https://img.shields.io/github/issues-raw/ignitionrobotics/ign-gazebo.svg)](https://github.com/ignitionrobotics/ign-gazebo/issues)
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[![Discourse topics](https://img.shields.io/discourse/https/community.gazebosim.org/topics.svg)](https://community.gazebosim.org)
[![Hex.pm](https://img.shields.io/hexpm/l/plug.svg)](https://www.apache.org/licenses/LICENSE-2.0)

Build | Status
-- | --
Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-gazebo/branch/ign-gazebo3/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-gazebo)
Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-ign-gazebo3-bionic-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-ign-gazebo3-bionic-amd64)
Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-sim/branch/ign-gazebo3/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-sim/branch/ign-gazebo3)
Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-ign-gazebo3-focal-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-ign-gazebo3-focal-amd64)
Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-ign-gazebo3-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-ign-gazebo3-homebrew-amd64)
Windows | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_gazebo-ci-ign-gazebo3-windows7-amd64)](https://build.osrfoundation.org/job/ignition_gazebo-ci-ign-gazebo3-windows7-amd64)

Ignition Gazebo is an open source robotics simulator. Through Ignition Gazebo, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services.
Gazebo Sim is an open source robotics simulator. Through Gazebo sim, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services.

Ignition Gazebo is derived from [Gazebo](http://gazebosim.org) and represents over 16 years of development and experience in robotics and simulation. This library is part of the [Ignition Robotics](https://ignitionrobotics.org) project.
Gazebo Sim is derived from [Gazebo Classic](http://classic.gazebosim.org) and represents over 16 years of development and experience in robotics and simulation. This library is part of the [Gazebo](https://gazebosim.org) project.

# Table of Contents

Expand Down Expand Up @@ -52,34 +52,33 @@ Ignition Gazebo is derived from [Gazebo](http://gazebosim.org) and represents ov

* **Dynamics simulation**: Access multiple high-performance physics engines
through
[Ignition Physics](https://github.com/ignitionrobotics/ign-physics).
[Gazebo Physics](https://github.com/gazebosim/gz-physics).

* **Advanced 3D graphics**: Through
[Ignition Rendering](https://github.com/ignitionrobotics/ign-rendering),
[Gazebo Rendering](https://github.com/gazebosim/gz-rendering),
it's possible to use rendering engines such as OGRE v2 for realistic rendering
of environments with high-quality lighting, shadows, and textures.

* **Sensors and noise models**: Generate sensor data, optionally with noise,
from laser range finders, 2D/3D cameras, Kinect style sensors, contact sensors,
force-torque, IMU, GPS, and more, all powered by
[Ignition Sensors](https://github.com/ignitionrobotics/ign-sensors)
[Gazebo Sensors](https://github.com/gazebosim/gz-sensors)

* **Plugins**: Develop custom plugins for robot, sensor, and
environment control.

* **Graphical interface**: Create, instrospect and interact with your simulations
* **Graphical interface**: Create, introspect and interact with your simulations
through plugin-based graphical interfaces powered by
[Ignition GUI](https://github.com/ignitionrobotics/ign-gui).
[Gazebo GUI](https://github.com/gazebosim/gz-gui).

* **Simulation models**: Access numerous robots including PR2, Pioneer2 DX,
iRobot Create, and TurtleBot, and construct environments using other physically
accurate models available through
[Ignition Fuel](https://app.ignitionrobotics.org/fuel). You can also build a
[Gazebo Fuel](https://app.gazebosim.org/fuel). You can also build a
new model using [SDF](http://sdformat.org).

* **TCP/IP Transport**: Run simulation on remote servers and interface to Ignition
Gazebo through socket-based message passing using
[Ignition Transport](https://github.com/ignitionrobotics/ign-transport).
* **TCP/IP Transport**: Run simulation on remote servers and interface to Gazebo Sim through socket-based message passing using
[Gazebo Transport](https://github.com/gazebosim/gz-transport).

* **Command line tools**: Extensive command line tools for increased simulation
introspection and control.
Expand All @@ -97,7 +96,7 @@ available through a package management utility such as [Apt](https://wiki.debian
This approach eliminates the need to download and compile source code, and dependencies
are handled for you. The downside of a binary install is that you won't be able to modify
the code. See [Source Install](#source-install) for information on
installing Ignition Gazebo from source.
installing Gazebo Sim from source.

**Ubuntu Bionic**

Expand All @@ -119,7 +118,7 @@ installing Ignition Gazebo from source.
sudo apt-get update
```

2. Install Ignition Gazebo
2. Install Gazebo Sim

```
sudo apt-get install libignition-gazebo3-dev
Expand All @@ -132,12 +131,12 @@ feature which hasn't been released yet.

### Prerequisites

Ignition Gazebo has a fairly large set of dependencies. Refer to the following sections
Gazebo Sim has a fairly large set of dependencies. Refer to the following sections
for dependency installation instructions for each supported operating system.

**[Ubuntu Bionic](http://releases.ubuntu.com/18.04/)**

1. Enable the Ignition software repositories:
1. Enable the Gazebo software repositories:

```
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
Expand All @@ -158,7 +157,7 @@ for dependency installation instructions for each supported operating system.
2. Install package dependencies:

```
git clone https://github.com/ignitionrobotics/ign-gazebo -b ign-gazebo3
git clone https://github.com/gazebosim/gz-sim -b ign-gazebo3
```

```
Expand Down Expand Up @@ -186,13 +185,13 @@ for dependency installation instructions for each supported operating system.
3. Clone the repository if you haven't already.

```
git clone https://github.com/ignitionrobotics/ign-gazebo -b ign-gazebo3
git clone https://github.com/gazebosim/gz-sim -b ign-gazebo3
```

4. Configure and build.

```
cd ign-gazebo
cd gz-sim
mkdir build
cd build
cmake ../
Expand All @@ -201,7 +200,7 @@ for dependency installation instructions for each supported operating system.

# Usage

Gazebo can be run from the command line, once [installed](#install), using:
Gazebo Sim can be run from the command line, once [installed](#install), using:

```
ign gazebo
Expand All @@ -219,7 +218,7 @@ In the event that the installation is a mix of Debian and from source, command
line tools from `ign-tools` may not work correctly.

A workaround for a single package is to define the environment variable
`IGN_CONFIG_PATH` to point to the location of the Ignition library installation,
`IGN_CONFIG_PATH` to point to the location of the Gazebo library installation,
where the YAML file for the package is found, such as
```
export IGN_CONFIG_PATH=/usr/local/share/ignition
Expand All @@ -228,7 +227,7 @@ export IGN_CONFIG_PATH=/usr/local/share/ignition
However, that environment variable only takes a single path, which means if the
installations from source are in different locations, only one can be specified.

Another workaround for working with multiple Ignition libraries on the command
Another workaround for working with multiple Gazebo libraries on the command
line is using symbolic links to each library's YAML file.
```
mkdir ~/.ignition/tools/configs -p
Expand All @@ -240,11 +239,11 @@ ln -s /usr/local/share/ignition/transportlog7.yaml .
export IGN_CONFIG_PATH=$HOME/.ignition/tools/configs
```

This issue is tracked [here](https://github.com/ignitionrobotics/ign-tools/issues/8).
This issue is tracked [here](https://github.com/gazebosim/gz-tools/issues/8).

# Documentation

API documentation and tutorials can be accessed at [https://ignitionrobotics.org/libs/gazebo](https://ignitionrobotics.org/libs/gazebo)
API documentation and tutorials can be accessed at [https://gazebosim.org/libs/gazebo](https://gazebosim.org/libs/gazebo)

You can also generate the documentation from a clone of this repository by following these steps.

Expand All @@ -254,16 +253,16 @@ You can also generate the documentation from a clone of this repository by follo
sudo apt-get install doxygen
```

2. Clone the repository
2. Clone the repository if you haven't already

```
git clone https://github.com/ignitionrobotics/ign-gazebo
git clone https://github.com/gazebosim/gz-sim
```

3. Configure and build the documentation.

```
cd ign-gazebo
cd gz-sim
mkdir build
cd build
cmake ../
Expand Down Expand Up @@ -298,14 +297,14 @@ Follow these steps to run tests and static code analysis in your clone of this r
make codecheck
```

See the [Writing Tests section of the contributor guide](https://github.com/ignitionrobotics/ign-gazebo/blob/main/CONTRIBUTING.md#writing-tests) for help creating or modifying tests.
See the [Writing Tests section of the contributor guide](https://gazebosim.org/docs/all/contributing#writing-tests) for help creating or modifying tests.

# Folder Structure

Refer to the following table for information about important directories and files in this repository.

```
ign-gazebo
gz-sim
├── examples Various examples that can be run against binary or source installs of ign-gazebo.
│   ├── plugin Example plugins.
│   ├── standalone Example standalone programs that use ign-gazebo as a library.
Expand All @@ -330,17 +329,17 @@ ign-gazebo
# Contributing

Please see
[CONTRIBUTING.md](https://github.com/ignitionrobotics/ign-gazebo/blob/main/CONTRIBUTING.md).
[CONTRIBUTING.md](https://github.com/gazebosim/gz-sim/blob/main/CONTRIBUTING.md).

# Code of Conduct

Please see
[CODE_OF_CONDUCT.md](https://github.com/ignitionrobotics/ign-gazebo/blob/main/CODE_OF_CONDUCT.md).
[CODE_OF_CONDUCT.md](https://github.com/gazebosim/gz-sim/blob/main/CODE_OF_CONDUCT.md).

# Versioning

This library uses [Semantic Versioning](https://semver.org/). Additionally, this library is part of the [Ignition Robotics project](https://ignitionrobotics.org) which periodically releases a versioned set of compatible and complimentary libraries. See the [Ignition Robotics website](https://ignitionrobotics.org) for version and release information.
This library uses [Semantic Versioning](https://semver.org/). Additionally, this library is part of the [Gazebo project](https://gazebosim.org) which periodically releases a versioned set of compatible and complimentary libraries. See the [Gazebo website](https://gazebosim.org) for version and release information.

# License

This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/ignitionrobotics/ign-gazebo/blob/main/LICENSE) file.
This library is licensed under [Apache 2.0](https://www.apache.org/licenses/LICENSE-2.0). See also the [LICENSE](https://github.com/gazebosim/gz-sim/blob/main/LICENSE) file.

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